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Removed controller arming from passthrough mode setting #17

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Merged
merged 1 commit into from
May 17, 2023
Merged

Removed controller arming from passthrough mode setting #17

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24 changes: 2 additions & 22 deletions blue_manager/blue_manager/manager.py
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Original file line number Diff line number Diff line change
Expand Up @@ -85,11 +85,6 @@ def wait_for_client(client) -> None:
)
wait_for_client(self.set_param_srv_client)

self.arm_controller_srv_client = self.create_client(
SetBool, "blue/control/arm", callback_group=reentrant_callback_group
)
wait_for_client(self.arm_controller_srv_client)

def _get_ros_params(self) -> None:
"""Get the ROS parameters from the parameter server."""
self.declare_parameters(
Expand Down Expand Up @@ -187,20 +182,6 @@ def set_thruster_params(self, params: list[Parameter]) -> bool:
)
return all([result.successful for result in response.results])

def arm_controller(self, arm: bool) -> bool:
"""Arm/disarm the custom BlueROV2 controller.

Args:
arm: Arm/disarm the controller.

Returns:
True if the controller was successfully armed/disarmed, False otherwise.
"""
response: SetBool.Response = self.arm_controller_srv_client.call(
SetBool.Request(data=arm)
)
return response.success

def set_rc_passthrough_mode_cb(
self, request: SetBool.Request, response: SetBool.Response
) -> SetBool.Response:
Expand Down Expand Up @@ -248,8 +229,7 @@ def set_rc_passthrough_mode_cb(
for _ in range(self.retries):
self.passthrough_enabled = self.set_thruster_params(
list(passthrough_params.values())
) and self.arm_controller(True)

)
response.success = self.passthrough_enabled

if response.success:
Expand Down Expand Up @@ -282,7 +262,7 @@ def set_rc_passthrough_mode_cb(
for _ in range(self.retries):
self.passthrough_enabled = not self.set_thruster_params(
list(self.thruster_params_backup.values())
) and self.arm_controller(False)
)

response.success = not self.passthrough_enabled

Expand Down